Consensus of nonlinear multi-agent systems with directed switching graphs: A directed spanning tree based error system approach

2018 ◽  
Vol 28 ◽  
pp. 123-140 ◽  
Author(s):  
Zhiyong Yu ◽  
Haijun Jiang ◽  
Da Huang ◽  
Cheng Hu
Keyword(s):  
Spanning Tree ◽  
System Approach ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Directed Spanning Tree ◽  
Multi Agent ◽  
Error System

Consensus Problem of Singular Multi-Agent Systems with Continuous-Time and Fixed Topology

2013 ◽  
Vol 278-280 ◽  
pp. 1687-1691
Author(s):  
Tong Qiang Jiang ◽  
Jia Wei He ◽  
Yan Ping Gao
Keyword(s):  
Continuous Time ◽  
Spanning Tree ◽  
Undirected Graph ◽  
Necessary Condition ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Fixed Topology ◽  
The Stability ◽  
Sufficient And Necessary Condition

The consensus problems of two situations for singular multi-agent systems with fixed topology are discussed: directed graph without spanning tree and the disconnected undirected graph. A sufficient and necessary condition is obtained by applying the stability theory and the system is reachable asymptotically. But for normal systems, this can’t occur in upper two situations. Finally a simulation example is provided to verify the effectiveness of our theoretical result.

scholarly journals Event-Triggered Cluster Consensus of Leader-Following Linear Multi-Agent Systems

2018 ◽  
Vol 8 (4) ◽  
pp. 293-302 ◽  
Author(s):  
Bin Xu ◽  
Wangli He
Keyword(s):  
Sufficient Conditions ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Event Time ◽  
Control Scheme ◽  
Directed Spanning Tree ◽  
Leader Following ◽  
Multi Agent ◽  
Cluster Consensus ◽  
Event Triggered

Abstract This paper is concerned with cluster consensus of linear multi-agent systems via a distributed event-triggered control scheme. Assume that agents can be split into several clusters and a leader is associated with each cluster. Sufficient conditions are derived to guarantee the realization of cluster consensus by a feasible event-triggered controller if the network topology of each cluster has a directed spanning tree and the couplings within each cluster are sufficiently strong. Further, positive inner-event time intervals are ensured for the proposed event-triggered strategy to avoid Zeno behaviors. Finally, a numerical example is given to illustrate the effectiveness of the theoretical results.

H∞ consensus of multi-agent systems in directed networks with Lipschitz non-linear dynamics

2016 ◽  
Vol 39 (12) ◽  
pp. 1877-1884 ◽  
Author(s):  
Wei Liu ◽  
Shaolei Zhou ◽  
Qingpo Wu ◽  
Gaoyang Yin
Keyword(s):  
Matrix Decomposition ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
External Disturbances ◽  
Agent Systems ◽  
Directed Spanning Tree ◽  
General Network ◽  
Multi Agent ◽  
Theoretical Results ◽  
Relative States

This paper studies the H∞ consensus problem of multi-agent systems with Lipschitz non-linearities and external disturbances in a general network. The topology is just required to contain a directed spanning tree. Distributed consensus controllers are constructed based on relative states information of neighbour agents. A novel matrix decomposition based approach is introduced to analyse the H∞ consensus problem, in which the H∞ consensus problem is converted into a H∞ control problem of lower dimension system by performing a proper linear variable transformation. Finally, the effectiveness of the theoretical results is illustrated via a numerical simulation.

Consensus Problems for High-Order Multi-Agent Systems

2011 ◽  
Vol 403-408 ◽  
pp. 2736-2739
Author(s):  
Xu Zhu ◽  
Jian Guo Yan ◽  
Yao Hong Qu
Keyword(s):  
Network Topology ◽  
Necessary Conditions ◽  
High Order ◽  
Consensus Algorithm ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Directed Spanning Tree ◽  
Sufficient And Necessary Conditions ◽  
Multi Agent ◽  
Information Consensus

An information consensus algorithm for high-order multi-agent systems is proposed based on algebraic graph theory. Sufficient and necessary conditions are given for each information to converge to common values. The network topology of multi-agent systems has a directed spanning tree and each weight of different derivatives is positive, then consensus is achieved.

Formation Maneuvering Control of Nonholonomic Multi-Agent Systems

2016 ◽  
Author(s):  
M. Khaledyan ◽  
M. de Queiroz
Keyword(s):  
Mobile Robots ◽  
Numerical Simulations ◽  
Spanning Tree ◽  
Control Law ◽  
Multi Agent Systems ◽  
Type Solution ◽  
Wheeled Mobile Robots ◽  
Kinematic Control ◽  
Agent Systems ◽  
Multi Agent

In this paper, we present a leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. Our solution is based on the graph that models the coordination among the robots being a spanning tree. Our kinematic control law ensures, in the least squares sense, that the robots globally exponentially acquire a given planar formation while the formation globally exponentially tracks a desired trajectory. The proposed control is demonstrated by numerical simulations of five unicycle vehicles.

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